24 #ifndef _INTERFACES_JOINTINTERFACE_H_
25 #define _INTERFACES_JOINTINTERFACE_H_
27 #include <interface/interface.h>
28 #include <interface/message.h>
29 #include <interface/field_iterator.h>
44 int64_t timestamp_sec;
45 int64_t timestamp_usec;
52 } JointInterface_data_t;
54 JointInterface_data_t *data;
74 virtual const char *
enum_tostring(
const char *enumtype,
int val)
const;
Base class for all Fawkes BlackBoard interfaces.
const char * type() const
Get type of interface.
JointInterface Fawkes BlackBoard Interface.
float position() const
Get position value.
virtual Message * create_message(const char *type) const
Create message based on type name.
float velocity() const
Get velocity value.
size_t maxlenof_velocity() const
Get maximum length of velocity value.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
void set_position(const float new_position)
Set position value.
void set_velocity(const float new_velocity)
Set velocity value.
size_t maxlenof_position() const
Get maximum length of position value.
virtual void copy_values(const Interface *other)
Copy values from other interface.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Fawkes library namespace.